WASHINGTON — Four national retailers have agreed to recall more than 150,000 Nap Nanny baby recliners after at least five infant deaths and dozens of reports of children nearly falling out of the recliners, the Consumer Product Safety Commission said Thursday.

The recall covers Nap Nanny Generations One and Two and the Chill model infant recliners. All were sold between 2009 and 2012. The Nap Nanny was designed to mimic the curves of a baby car seat, elevating an infant slightly to help reduce reflux, gas, stuffiness, or other problems.

The CPSC warned parents and caregivers that the Nap Nanny contains defects in its design, warnings, and instructions. The agency said the product poses a substantial risk of injury and death to infants.

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The four retailers — Amazon.com, Buy Buy Baby, Diapers.com and Toys “R” Us/Babies “R” Us — agreed to voluntarily participate in the recall because its manufacturer is unable or unwilling to participate, the government agency said in a statement. The manufacturer, Baby Matters LLC of Berwyn, Pa.,said earlier this month that it had gone out of business. At the time, the company’s website carried a statement from owner and founder Leslie Gudel that the company did not believe the CPSC complaint had merit and that its products were safe when used as instructed.

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The first two versions of the foam recliner were recalled in July 2010 after the agency became aware of one death and 22 reports of infants hanging out or falling over the side of the Nap Nanny, even though most of the infants had been placed in the recliner’s harness. Since then, the agency has learned of four more deaths. Four were linked to the first versions of the recliner, and one to the newer model.

Five thousand Nap Nanny Generation One and 50,000 Generation Two models were sold between 2009 and early 2012. About 100,000 Chill models have been sold since January 2011.

The CPSC advised consumers seeking more information about the recall to review the return policies of the retailers participating in the recall.